Quote:
Originally Posted by jwhite
Does FMS control imply a different error mode? In other words, if you miss one motor safety check, does your 'bot get shot down?
|
Your robot will not get shutdown for the full match because you failed to update one motor in time. The timer counts from the last set() call on the motor object. The motor safety watchdog is implemented solely on the cRIO and is dependent on how often your code updates the motor.
The other watchdog on the cRIO is dependent on how often packets are received from the driverstation. If packets take too long to reach the robot, the robot will switch to disabled mode until it begins receiving packets again. I'm not 100% sure, but I think the motor safety timer will still count in disabled mode. If you are lagging on the field, the robot being disabled could be causing your motor timeout messages.
My other thought is that your vision code may be taking too much time to execute. Are you doing your vision processing on the cRIO in the same thread as your motor code?
It might also be beneficial to open NetConsole while you are on the field and watch the output from the cRIO see why the code is crashing.